Revert Kitchen environment to original

[rodrigodelazcano]

Description

In order for the FrankaKitchen-v1 environment to be more similar to its original version, this PR reverts the changes that were made for the v0.2.0 release of Gymnasium-Robotics. This update is due to existing confusion with the new IK action space (#135) and to provide reproducibility of past research by resembling the original environment as much as possible. This PR's environment will also facilitate the recreation of the D4RL datasets in Minari. The changes involve:

• robot model: for this PR the model of the Franka robot is the original instead of the model in mujoco_menagerie
• action space: this PR removes the Inverse Kinematic control option and maintains a single action space, the original joint velocity control.
• goal tasks: some task have been removed which were not present in the original environment (top_right_burner and bottom_right_burner). Also the tasks name now match the original naming.

Type of change

Please delete options that are not relevant.

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• This change requires a documentation update

Screenshots

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Checklist:

• I have run the pre-commit checks with pre-commit run --all-files (see CONTRIBUTING.md instructions to set it up)
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes